//
// Created by lqk on 2022/1/30.
//

#ifndef QUADCEREBELLUM_QUADRUPEDSPECIFICTION_H
#define QUADCEREBELLUM_QUADRUPEDSPECIFICTION_H

struct LegSpecification{
    float m_abadLinkLength,m_hipLinkLength,m_kneeLinkLength;
};

struct QuadrupedSpecification {
    //TODO Init specification using yaml file
    float m_bodyLength,m_bodyWidth,m_bodyHeight,m_bodyMass;
    float m_abadGearRatio,m_hipGearRatio,m_kneeGearRatio;
    float m_batteryVoltage;
    float m_jointTauMax;
    LegSpecification m_legSpec;
};




#endif //QUADCEREBELLUM_QUADRUPEDSPECIFICTION_H
